Unmanned aerial vehicle (uav)-assisted worksite operations

ABSTRACT

In another example, a user input mechanism on a user interface is configured to receive a user input indicative of field data for a worksite and at least one vehicle control variable for controlling an unmanned aerial vehicle (UAV) to carry out a worksite mission within the worksite. Dependent variables related to the field data are calculated, as are at least one vehicle control variable, based on the received user input indicating the field data and the at least one vehicle control variable. A display of the calculated dependent variables along with the field data is generated with at least one vehicle control variable on a user interface device. Control signals are provided to the UAV based on the field data, the at least one vehicle control variable and calculated dependent variables.

FIELD OF THE DESCRIPTION

The present description relates to worksite operations. Morespecifically, the present description relates to using an unmannedaerial vehicle (UAV) in performing worksite operations.

BACKGROUND

There are many different types of mobile machines. Some such mobilemachines include agricultural machines, construction machines, forestrymachines, turf management machines, among others. Many of these piecesof mobile equipment have mechanisms that are controlled by an operatorin performing operations. For instance, a construction machine can havemultiple different mechanical, electrical, hydraulic, pneumatic andelectro-mechanical subsystems, among others, all of which can beoperated by the operator.

Construction machines are often tasked with transporting material acrossa worksite, or into or out of a worksite, in accordance with a worksiteoperation. Different worksite operations may include moving materialfrom one location to another or leveling a worksite, etc. During aworksite operation, a variety of construction machines may be used,including articulated dump trucks, wheel loaders, graders, andexcavators, among others. Worksite operations may involve a large numberof steps or phases and may be quite complex.

The discussion above is merely provided for general backgroundinformation and is not intended to be used as an aid in determining thescope of the claimed subject matter.

SUMMARY

In one example, a position of landscape modifiers within a worksite isdetermined and a position output indicative of the position of thelandscape modifiers is generated. Based on the position output,different types of worksite areas within the worksite are identified andan area identifier output indicative of the types of worksite areas isgenerated, as is a location of the worksite areas within the worksite.The worksite areas are prioritized based on the type. A route isgenerated for an unmanned aerial vehicle (UAV) based on the prioritizedworksite areas. Control signals are provided to the UAV based on theroute.

In another example, a user input mechanism on a user interface isconfigured to receive a user input indicative of field data for aworksite and at least one vehicle control variable for controlling anunmanned aerial vehicle (UAV) to carry out a worksite mission within theworksite. Dependent variables related to the field data are calculated,as are at least one vehicle control variable, based on the received userinput indicating the field data and the at least one vehicle controlvariable. A display of the calculated dependent variables along with thefield data is generated with at least one vehicle control variable on auser interface device. Control signals are provided to the UAV based onthe field data, the at least one vehicle control variable and calculateddependent variables.

This Summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This Summary is not intended to identify key features oressential features of the claimed subject matter, nor is it intended tobe used as an aid in determining the scope of the claimed subjectmatter. The claimed subject matter is not limited to implementationsthat solve any or all disadvantages noted in the background.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of one example of a worksite architecture.

FIGS. 2A and 2B are block diagrams showing one example of a mobilemachine, an unmanned aerial vehicle and a worksite control system of aworksite in more detail.

FIG. 3 is a flow diagram showing one example of generating a route for aUAV using a worksite control system illustrated in FIG. 2.

FIG. 4 is a flow diagram showing one example of setting operatingparameters for a UAV using a worksite control system illustrated in FIG.2.

FIG. 5 is one example of a user interface display for setting UAVparameters.

FIG. 6 is a flow diagram showing one example of generating a userinterface with visual cues indicative of update values for differentworksite areas within a worksite.

FIG. 7 is one example of a user interface display for displayingworksite areas within a worksite and corresponding visual cuesindicative of update values for the respective worksite areas.

FIG. 8 is another example of a user interface display for displayingworksite areas within a worksite and corresponding visual cuesindicative of update values for the respective worksite areas.

FIGS. 9A and 9B illustrate a flow diagram showing one example ofcalculating a worksite data quality metric from mobile machines at aworksite and obtaining additional worksite data based on the worksitedata quality metric.

FIG. 10 is a flow diagram showing one example of obtaining supplementaryworksite data based on a calculated worksite error using the UAVillustrated in FIG. 2

FIG. 11 is a flow diagram showing one example of generating a worksiteerror map using worksite data obtained from ground-engaging mobilemachines and a UAV illustrated in FIG. 2.

FIGS. 12-14 show examples of mobile devices that can be used in theworksite architectures shown in the previous figures.

FIG. 15 is a block diagram of one example of a computing environmentthat can be used in the architectures shown in the previous figures.

DETAILED DESCRIPTION

In carrying out a worksite operation, it may be desired to utilize anunmanned aerial vehicle (UAV) to obtain worksite data which can includetopographical information, mobile machine positioning information, amongother types of information. The obtained worksite data can be used by aworksite manager to track a progress of a worksite operation in additionto tracking a productivity of the various mobile machines involved inthe worksite operation. However, UAVs often have limited battery life,and, as such, it is important to generate routes that maximize the areaflown given the battery life of the UAV. Current attempts to fly UAVsover a worksite have included flying the UAVs over the entire worksiteon a periodic basis such as weekly, daily, or hourly. However, thisoften requires multiple UAVs to cover the entire worksite in a timelyfashion, yet large parts of the worksite may be unaltered from theprevious flight. In one example of the present description, a worksitecontrol system is provided that includes a flight plan system thatincreases efficiency by determining a route for a UAV based onidentified types of worksite areas within a worksite.

Additionally, to accurately obtain worksite data, it can be important toset good operating parameters for the UAV. This can include settinginformation relating to a camera configuration of the UAV, field datapertaining to a worksite, and mission planning variables such as aplanned altitude, for example, among other variables. However, a userinputting this information is not often aware of the interrelationshipsbetween this information and how adjusting one of the variables willaffect the remaining variables. In one example of the presentdescription, a user interface is provided that simplifies the process ofsetting the operating parameters for the UAV. Based on the received userinput, this can include calculation logic determining values for thedependent variables, using relationships amongst the worksite data, andsubsequently generating control signals to the UAV indicative ofdetermined operating parameters.

Further, during a worksite operation, it may be important to determinewhether information obtained for a given worksite area is up-to-date andaccurate. For example, if worksite data is obtained that is notindicative of a current state at a worksite area, an erroneousproductivity value can be assigned to a plurality of mobile machines aswell as an inaccurate determination of progress towards completing aworksite goal. In one example of the present description, a userinterface is provided that displays worksite areas on a user interfacedevice with visual cues indicating a “freshness” of worksite datapertaining to a given worksite area. For example, based on worksite dataobtained for a given worksite area, an update value can be calculatedand assigned to the given worksite area. Control signals can then begenerated to control the user interface device to display the updatevalue by incorporating visual cues indicative of the calculated updatevalues or “freshness” of the worksite data on the user interface device.

Additionally, to accurately determine a state of a worksite in terms ofhow much work is being completed and where, etc., it can sometimes beimportant to obtain worksite data that has a high degree of quality. Forexample, if image data is obtained from a UAV that is blurred,topographical information derived from the blurred image may lead toinaccuracies in determining a current state of a worksite. In oneexample of the present description, a data quality can be monitored by aworksite control system that includes a data quality system configuredto monitor a quality of the obtained worksite data, and can subsequentlygenerate control signals to mobile machines based on a worksite dataquality.

During a worksite operation, it may also be desired to monitor aproductivity of a multitude of worksite mobile machines to ensure that aworksite goal will be achieved on-time. Additionally, it may also bedesired to maintain an accurate worksite map of a worksite. However, indetermining the state of a worksite in terms of work being completed,where work is being done, how to deploy machines, etc., error can oftenbe introduced from a variety of sources. For instance, error can includemeasurement errors made by measuring devices, blade side material losseffects and track effects that can affect estimates of how much materialis moved, among other sources of error. To address introduced erroraffecting a productivity of mobile machines and an accuracy of aworksite map, a worksite control system can be provided that, in oneexample, includes an error calculation system configured to control aUAV based on a determined amount of error within the received worksitedata. The UAV is controlled to obtain additional information that can beused to address the accumulated error.

FIG. 1 is a diagram of one example of a worksite architecture (orworksite area) 100. A worksite area 100 illustratively includeslandscape modifiers that operate to modify certain characteristics ofthe worksite area 100. They can include rain, wind, and a plurality ofmobile machines 104 and 106. In the example shown in FIG. 1, worksitearea 100 also illustratively includes a worksite control system 120, aremote system(s) 124, an unmanned aerial vehicle (UAV) 112 and aworksite surface 108 that includes a pile of material 102 and a hole110. While mobile machines 104 and 106 illustratively include anexcavator and a dozer, respectively, it is to be understood that anycombination of mobile machines may be used in accordance with thepresent description. In one example, mobile machine 104 is configured tomove material from pile of material 102 to worksite surface 108.Additionally, mobile machine 106, in one example, is configured to levelworksite surface 108. However, mobile machines 104 and 106 can beconfigured to carry out any type of work corresponding to a worksiteoperation.

UAV 112, in one example, is configured to obtain and transmit worksitedata from worksite area 100. In one example, the worksite data mayinclude topographical information, a position of mobile machines 104 and106, or any other information pertaining to worksite area 100. UAV 112,as illustratively shown, includes sensor(s) 118 and communicationsystem(s) 114. In one example, sensor(s) 118 can include an imageacquisition system configured to acquire image data of worksite area100. Additionally, communication system(s) 114, in one example, allowUAV 112 to communicate with mobile machines 104 and 106, worksitecontrol system 120 and/or remote system(s) 124. In one example,communication system(s) 114 can include a wired or wirelesscommunication system and/or a satellite communication system, a cellularcommunication system, a near field communication system among many othersystems or combinations of systems.

It will be noted that, in one example, each of mobile machines 104 and106 and UAV 112, or a subset of the machines, may have their ownworksite control system 120 which can communicate with other controlsystems 120 and/or one or more remote system(s) 124. Additionally, partsof system 120 can be disposed on each UAV 112 and mobile machine 104 and106, and parts can be on a central system 120. For purposes of thepresent discussion, it will be assumed that worksite control system 120is a central system that communicates with each UAV 112 and mobilesmachines 104 and 106, but this is just one example.

During a worksite operation, worksite control system 120 obtainsworksite data from UAV 112 and mobile machines 104 and 106, andgenerates a user interface and control signals based on the receivedworksite data. This is discussed in more detail later. Briefly, however,this can include receiving worksite data from UAV 112 and/or mobilemachines 104 and 106, determining a route for UAV 112, calculating aworksite data quality and error, and generating a user interfaceconfigured to allow an operator to set operating parameters for UAV 112and view visual cues corresponding to determined update values for thereceived worksite data.

In one example, UAV 112 and mobile machines 104 and 106 communicatethrough a wired or wireless communication link over a network (such asthe Internet or other network or combination of networks). It caninclude a cellular communication system, a messaging system, or a widevariety of other communication components, some of which are describedin more detail below. Additionally, in some examples, personnel locatedat a worksite are also in communication with worksite control system120. Further, as illustratively shown, in some examples, UAV 112 andmobile machines 104 and 106 can communicate with other mobile machineslocated at other worksite area(s) 122. Additionally, while FIG. 1 showsthat UAV 112, mobile machines 104 and 106, and worksite control system120 are able to connect with a single remote system 124, remote system124 can include a wide variety of different remote systems (or aplurality of remote systems) including a remote computing systemaccessible by UAV 112, mobile machines 104 and 106, and worksite controlsystem 120.

FIGS. 2A and 2B are block diagrams showing one example of mobile machine104, unmanned aerial vehicle (UAV) 112 and worksite control system 120of a worksite in more detail. While mobile machine 104 is illustrativelyshown in FIG. 2A, it is to be understood that mobile machine 104 couldbe any or all mobile machines 104 and 106, etc. Mobile machine 104 isconfigured to carry out a task in accordance with a worksite operationthat, for example, may be leveling a worksite surface, moving materialfrom one worksite area to a different worksite area, among other tasks.Network 224 can be any of a wide variety of different types of networks,such as a wide area network, a local area network, a near fieldcommunication network, a cellular network, or any of a wide variety ofother networks or combinations of networks. Before describing theoperation of worksite control system 120 in more detail, a briefdescription of some of the items in mobile machine 106 and UAV 112 willfirst be provided.

Mobile machine 104 illustratively includes a position detection system226, a load carrying mechanism 228, a communication system 230, a userinterface device 232, a data store 244, a control system 234,controllable subsystem(s) 236, sensor(s) 238, controller(s)/processor(s)240, user interface logic 242 and a variety of other logic 246. Controlsystem 234 can generate control signals for controlling a variety ofdifferent controllable subsystems 236 based on sensor signals generatedby sensor(s) 238, based on feedback from remote system 124 or feedbackfrom worksite control system 120, based on operator inputs receivedthrough user interface device 232, or it can generate control signals ina wide variety of other ways as well. Controllable subsystems 236 caninclude a wide variety of mechanical, electrical, hydraulic, pneumatic,computer implemented and other systems of mobile machine 104 that relateto the movement of the machine, the operation that is performed, andother controllable features.

Communication system 230 can include one or more communication systemsthat allow mobile machine 104 to communicate with remote system 124, UAV112, worksite control system 120 and/or other machines at differentworksites 122 over network 224. User interface device 232 can includedisplay devices, mechanical or electrical devices, audio devices, hapticdevices, and a variety of other devices. In one example, user interfacelogic 242 detects user inputs and generates an operator display on userinterface device 232 which can include a display device that isintegrated into an operator compartment of mobile machine 104, or it canbe a separate display on a separate device that can be carried byoperator 304 (such as a laptop computer, a mobile device, etc.). Loadcarrying mechanism 228 is configured to carry or move a load of materialduring operation of mobile machine 104 at a worksite. Position detectionsystem 226 can be one or more of a global position system (GPS)receiver, a LORAN system, a dead reckoning system, a cellulartriangulation system, or other positioning system. In one example,position detection system 226 is configured to associate signalsobtained by sensor(s) 238 with a geospatial location, such as a locationwithin a worksite.

Unmanned aerial vehicle (UAV) 112 illustratively includes propulsionsystem 202, rotors 204, communication system(s) 114, positioning system206, sensor(s) 118, a data store 222, and processor(s)/controller(s) 212which include propulsion control logic 214, sensor control logic 216,communication control logic 218, and a variety of other logic 220. Itcan have other items 210 as well. Propulsion system 202 illustrativelypowers rotors 204, or other mechanisms, to provide propulsion to UAV112. Propulsion control logic 214 illustratively controls propulsionsystem 202. In doing so, it can illustratively control the direction,height, altitude, speed, and other characteristics of UAV 112.

Sensor(s) 118 illustratively sense one or more attributes of a worksiteover which UAV 112 is traveling. For example, sensor(s) 118 can sensesuch things as plant size, plant height, topography information, aposition of mobile machines, or any other information relating to aworksite operation. Sensor(s) 118 can thus be a wide variety ofdifferent types of sensors such as cameras, infrared cameras or otherinfrared sensors, video cameras, stereo cameras, LIDAR sensors,structured light systems, etc.

Sensor control logic 216 can illustratively control sensor(s) 118.Therefore, it can illustratively control when sensor readings are taken,and it can perform signal conditioning on the sensor signals, such aslinearization, normalization, amplification, etc. It can alsoillustratively perform other processing on the signals, or theprocessing can be performed by controller(s)/processor(s) 270 ofworksite control system 120, or the processing can be split betweensensor control logic 216 and controller(s)/processor(s) 270.

Communication system(s) 114 illustratively communicate with worksitecontrol system 120, mobile machine 104 and/or remote system(s) 124. Itcan communicate by a wired communication harness when the communicationlink is a physically tethered harness. It can also communicate through awireless communication link. Communication control logic 218illustratively controls communication system(s) 114 to communicate withworksite control system 120. It can communicate the sensor signals fromsensor(s) 118, or it can communicate them after they are conditioned bysensor control logic 216. It can also communicate other values that aregenerated based on the sensors, or other items in UAV 112. For instance,it can communicate the position of UAV 112 identified by positioningsystem 206. It can also, for example, calculate a relative offsetbetween the position of UAV 112 and the position of mobile machine 104,and communicate that value to worksite control system 120. It cancontrol the communication of a wide variety of other values or signalsbetween UAV 112 and worksite control system 120.

Positioning system 206 illustratively generates a position indicator,indicating a position of UAV 112. As with position detection system 226,positioning system 206 can be a GPS system, a cellular triangulationsystem, a dead reckoning system, or a wide variety of other types ofsystems.

Turning now to worksite control system 120, worksite control system 120illustratively includes a communication system 248,controller(s)/processor(s) 270, a control system 280, a data store 298,flight plan system 250, user interface system 252, data quality system272 and error calculation system 284. Flight plan system 250, in oneexample, is configured to generate a route for UAV 112, within aworksite, based on identified types and locations of worksite areaswithin a worksite. Flight plan system 250 illustratively includes areaidentifier logic 254, prioritizing logic 256, a route generator 258, andother logic 260. In one example, types of worksite areas within aworksite can be identified based on a position of landscape modifierswithin the worksite. For example, area identifier logic 254 can receivean input from position detection system 226 of mobile machine 104, andcan identify a geospatial location of mobile machine 104 within theworksite based on the received input. Based on a location of mobilemachine 104 and other landscape modifiers, area identifier logic 254 canidentify different locations and types of worksite areas. For example, aworksite area with a plurality of mobile machines can be identified asdynamic, meaning that they will likely change relatively often, whileworksite areas with relatively few to no mobile machines can beidentified as fixed, meaning that they will not likely change veryoften. Alternatively, locations of other landscape modifiers, such asrain or wind, for example, can be identified using other receivedinputs.

Based on the identified types and locations of worksite areas within aworksite, prioritizing logic 256 receives the output from areaidentifier logic 254 and prioritizes the worksite areas for UAV 112. Forexample, fixed worksite areas can have a lower priority relative todynamic worksite areas, as the fixed worksite areas are not beingaltered by landscape modifiers and are thus less likely to undergotopographical change. However, a priority can be altered based on areceived user input indicating a preference or a received indication ofa particular worksite operation. Additionally, while multiple worksiteareas can be identified as fixed or dynamic, they may have varyingpriority based on their respective location within a worksite. Forexample, a fixed worksite area located farther away from a UAV stationmay be given a higher priority relative to a fixed worksite area locatedcloser to the UAV station, or vice versa. Additionally, types ofworksite areas can be further prioritized based on a duration of time aseither fixed or dynamic. For example, a recently identified fixedworksite area, corresponding to a worksite area that mobile machines 104and 106 recently left, may have a higher priority compared to anotherfixed worksite area that was previously identified as fixed, and whereit has had no machine activity for a longer time period. Similarly,dynamic worksite areas may be prioritized based on how quickly change isexpected. For instance, a dynamic worksite area with multiple machinesworking on it may have a higher priority than one with fewer machinesworking on it.

Once the worksite areas are prioritized, route generator 258 isconfigured to generate a route for UAV 112 based on the prioritizedworksite areas. In one example, upon generating a route, the route canbe displayed to a user of worksite control system 120 on user interfacedevice 262. Additionally, a user input can be received either acceptingor rejecting the proposed route. In one example, if the proposed routeis accepted, control system 280 generates control signals for UAV 112 tonavigate based on the accepted route. Alternatively, control system 280can also be configured to automatically generate control signals to UAV112 after route generator 258 generates the route. Upon receiving thecontrol signals from control system 280, UAV 112 can be configured tocarry out a worksite mission along the route, which, in one example,includes obtaining topographical information and/or other informationpertaining to a density, surface texture, soil moisture and/or soil typeor worksite characteristic for worksite areas along the generated route.

While UAV 112 can be automatically configured to conduct a worksitemission based on received control signals from control system 280, inother examples, a user input is first required indicating certainoperating and mission parameters for UAV 112. In one example, worksitecontrol system 120 includes user-interface system 252 configured togenerate a display for a user while being configured to receive avariety of user inputs indicating a vehicle control variable and/orfield data pertaining to a worksite operation. In one example, userinterface system 252 includes calculation logic 300, a user interfacedevice 262, user interface logic 264, update generator 266, a user inputmechanism 268 of user interface device 262, among other logic 208.

In one example, a variety of variables and information can be enteredthrough user input mechanism 268 such as camera configurationinformation, field data information corresponding to a worksite, andmission planning variables which can include a planned altitude, plannedhorizontal speed and required vertical accuracy, among others. However,as will be discussed later with respect to FIGS. 4-5, user interfacesystem 252 includes user interface logic 264 that generates a display,on user interface device 262, of architectural parameters, such as animaging configuration of UAV 112 (focal length, lens angle, pixel size,etc.), operating parameters, such as altitude and horizontal speed, andnominal and actual vertical accuracy information, among other types ofinformation. In one example, user input mechanism 268 allows a user tomodify and enter variables corresponding to the displayed architecturalparameters, operating parameters, and nominal and actual verticalaccuracy information, in addition to other information, whilecalculating dependent values for the remaining variables usingcalculation logic 300. For example, based on the received user inputthrough user input mechanism 268, calculation logic 300 can calculatedependent variables relating to the variables input by a user throughuser input mechanism 268, as will be discussed later.

Additionally, in one example, user interface logic 264 is furtherconfigured to generate a display, on user interface device 262, of aworksite to a user along with visual cues indicative of a calculatedspatio-temporal update value for a worksite area, as will be discussedwith respect to FIGS. 6-8. Briefly, however, user interface logic 264 isconfigured to generate a worksite map display that includes a number ofworksite areas. The worksite areas can be related based on displayedpixels, worksite data resolution, worksite equipment dimensions or anyother suitable criteria. Additionally, in one example, each displayedworksite area can have a worksite attribute value associated with itsuch as an initial elevation, currently measured elevation, or currentelevation deviation from a target elevation, among other attributevalues.

Update generator 266, of user interface system 252, is configured tocalculate update values for worksite areas displayed on user interfacedevice 262. In one example, the update values can be indicative of aduration of time since worksite data was received for the worksite area,a duration of time until additional worksite data is received for theworksite area, a number of equipment passes that have taken place at theworksite area or accumulated elevation error since worksite data wasobtained.

Based on the calculated updated values by update generator 266, userinterface logic 264 can control user interface device 262 to generatevisual cues on user interface device 262 indicative of the calculatedupdated values. For example, user interface logic 264 can alter adisplay of the worksite areas by incorporating different colors,patterns, textures, and/or intensities of the worksite areas, amongother display characteristics, indicative of the calculated updatevalues. Additionally, in one example, the display can further include aposition of mobile machine 104 and UAV 112 at a worksite, in addition toattributes of mobile machine 104 and UAV 112. By displaying visual cuesindicative of the calculated spatio-temporal update values, a manager ofa worksite operation can effectively track a productivity of mobilemachines at a worksite, along with a progress of a worksite operation orfreshness of worksite data.

Worksite control system 120 also illustratively includes data qualitysystem 272 configured to monitor a quality of worksite data receivedfrom mobile machine 104 and UAV 112, among other worksite machines. Dataquality system 272 includes quality logic 274, threshold logic 276,aggregation logic 282, action identifier logic 294, a mission generator296, among other logic 278. In one example, data quality system 272 isconfigured to receive worksite data from mobile machine 104 and/or UAV112, using communication system 248, and monitor a quality of thereceived worksite data. Based on a quality of the received worksitedata, control signals can be generated and sent to a mobile machine(s)at the worksite.

Quality logic 274, in one example, is configured to receive anindication of worksite data, and calculate a quality of the receivedworksite data based on quality data within the received worksite data.Quality data can include any worksite data that allows quality logic 274to determine a quality of the worksite data. As an example, the presentdisclosure will now assume that data quality system 272 receivesworksite data from UAV 112, even though it is assumed that data qualitysystem 272 can receive worksite data from a variety of sources. In thisexample, UAV 112 can include sensor(s) 118 which can include a posesensor, an accelerometer, a camera, an ambient sensor, a globalnavigation satellite system (GNSS), among other components. Sensor(s)118 can sense a variety of parameters from which quality data can beobtained. For example, quality data from sensor(s) 118 can includehorizontal dilution of precision (HDOP) data and vertical dilution ofprecision (VDOP) data from GNSS, pitch, roll and yaw data from a posesensor, x-axis, y-axis and z-axis data from an accelerometer, shutterspeed and aperture data from an image capture system, weather andobscurant data from an ambient sensor, and for worksite activity datafrom a variety of sensors, among other data.

From the obtained quality data from UAV 112, quality logic 274 candetermine a quality of the worksite data. Additionally, worksite dataquality can be a single value or a vector of values. For example,shutter speed and accelerometer data from UAV 112 can be combined for apixel blur quality metric. In one example, aggregation logic 282 can beused to aggregate the worksite data corresponding to a multitude ofmeasurements or received data from a plurality of mobile machineslocated within a worksite.

Upon calculating a data quality value for the received worksite datafrom UAV 112, threshold logic 276 can compare the calculated dataquality to a quality threshold, and, based on the comparison, actionidentifier logic 294 can determine an improvement action. In oneexample, a data quality threshold can be specific to a worksiteoperation. Additionally, it is expressly contemplated that a dataquality threshold can be adjusted based on a received user input throughuser input mechanism 268. As such, a data quality threshold can bevariable or fixed. Regardless, based on a comparison of the data qualityvalue to the threshold, worksite areas with deficient worksite data canbe identified and assigned an improvement action.

In one example, a comparison of the data quality value to the dataquality threshold can indicate a variety of data quality issues, which,in one example, can include a presence of a wind gust with an “open”camera shutter, surface lidar point cloud variation, vegetation within aworksite area, or a presence of an obscurant, among other things. Actionidentifier logic 294 can, based on the comparison of the data quality tothe data quality threshold, determine an improvement action for aworksite area from which the worksite data was received. Improvementactions, in one example, can include UAV 112 flying back to the worksitearea and obtaining additional worksite data for a worksite area, ormobile machine 104 traveling to the worksite area and obtainingadditional worksite data to supplement the received worksite data.Additionally, an improvement action can include landing UAV 112 andobtaining ground control point data for the worksite area.Alternatively, sensor(s) 118 on UAV 112 can be used to assess a heightof vegetation, which, in turn, can be used as a correction measurementfor the worksite data. Furthermore, in an example in which an obscurantis detected resulting from weather, an improvement action can includewaiting a defined time period for the weather to clear. However, it iscontemplated that these and/or a variety of other improvement actionscan be determined to supplement the deficient worksite data.

Once action identifier logic 294 identifies an improvement action for aworksite area, mission generator 296 can either update a current missionof UAV 112, so that UAV 112 is configured to execute the improvementaction by obtaining additional worksite data as part of a currentmission, or create a new mission for UAV 112 to obtain additionalworksite data. Upon mission generator 296 creating or updating aworksite mission, control system 280 can generate control signals tocontrol UAV 112 based on the updated or created worksite mission. In oneexample, by updating or creating a worksite mission for UAV 112 ormobile machine 104 based on a quality of data, a progress for a worksiteoperation can be effectively and accurately monitored, as well as aproductivity of mobile machine 104. Additionally, it is contemplatedthat control signals can also be generated for a multitude of UAVs ormobile machines based on available fuel, proximity to where data needsto be collected, UAV or sensor health, types of sensor(s) on-board, orany other additional criteria in order to obtain additional worksitedata to supplement the initial worksite data.

Additionally, a productivity of ground-engaging mobile machines ofteninvolves determining an amount of material moved by the ground-engagingmobile machines at a worksite area. However, determining an accurateproductivity is often made difficult through an introduction of errorfrom measurement errors, blade side material loss effects and trackeffects, among other things. As illustratively shown, in one example,worksite control system 120 includes error calculation system 284configured to determine a worksite error accumulated over a multitude ofpasses by ground-engaging mobile machines at a worksite area, and, basedon the determined error, generate control signals to UAV 112 to conducta worksite mission. In one example, a worksite mission can includeconducting a high accuracy aerial or ground survey of the worksite areato obtain highly accurate data regarding the worksite area. Asillustratively shown, error calculation system 284 includes error logic286, error threshold logic 288, back calculation logic 290, mapgeneration logic 302, and other logic 292.

In one example, error logic 286 is configured to receive worksite datafrom ground-engaging mobile machines and determine a worksite error. Asan example, the present disclosure will now assume that errorcalculation system 284 receives worksite data from mobile machine 104,even though it is assumed that error calculation system 284 can receiveworksite data from a variety of sources. Additionally, forclarification, it will be assumed that mobile machine 104 is aground-engaging mobile machine tasked with leveling a particularworksite area, even though it is contemplated that mobile machine 104can be another type of mobile machine tasked with a different worksitetask.

In this example, as mobile machine 104 makes passes altering a worksitesurface, mobile machine 104 generates worksite data and provides theworksite data to error logic 286. Worksite data can includegeoreferenced grader blade data, material data and/or material qualitydata. Additionally, worksite data can be combined with additionalworksite data such as soil type, compaction and/or moisture content,etc. Worksite data can be generated from sensor(s) 238 which can includestrain gauges, optical sensors, ultrasound sensors, pressure sensors,scales, among other types of sensors. Additionally, sensor(s) 238 caninclude a real time kinematic (RTK) global positioning system thatallows ground-engagement components, such as a blade or roller, ofmobile machine 104 to be tracked with a high precision.

Upon receiving worksite data, a worksite error can be calculated byerror logic 286 in a variety of ways, either alone or in combination,using the worksite data. For example, a worksite error can be calculatedby comparing an estimate of material moved by a machine to an opticalmeasurement of material relative to a ground engaging component ofmobile machine 104, an acoustic measurement of material relative tomobile machine 104, error modeling which can include a variety ofparameters such as a ground engaging component type, operating angle,weight, material type, material moisture, etc., GPS error estimates,operator observations, or sensor fusion information in combination witha kinematic model of the mobile machine.

Error threshold logic 288 compares the calculated worksite error to athreshold value, and, based on the comparison, control signals can begenerated to UAV 112 to conduct a worksite mission to address theworksite error. In one example, a worksite mission can include obtainingtopographical information for a worksite area which can indicate anaccurate amount of material moved within the worksite area. Assuming acalculated worksite error is greater than a threshold value so thatadditional worksite data is to be obtained using UAV 112, backcalculation logic 290 is configured to generate an updated productivityfor mobile machine 104 based on the additional worksite data.Additionally, back calculation logic 290 can receive the additionalworksite data and back-allocate the error to individual passes made bymobile machine 104. A corrected productivity can be displayed to a useron user interface device 262.

Additionally, error calculation system 284 includes map generation logic302 configured to generate a worksite error map based on a differencebetween a first worksite state map, generated from worksite dataobtained from ground-engaging mobile machines, and a second worksitestate map, generated from worksite data obtained from a UAV, as will bediscussed below with respect to FIG. 11. In one example, a worksitestate map includes topography information, density information, asurface texture, soil moisture and soil type, among other types ofworksite data for a given worksite area. A worksite error map can bedisplayed on user interface device 262, along with any received worksitedata.

Worksite control system 120 also illustratively includes data store 298that can be used to store any worksite data or information obtained frommobile machine 104, UAV 112, among other sources. The worksite data canbe indexed within data store 298 in a variety of ways. For example,indexing criteria can include indexing the data based on the type ofmobile machine corresponding to the data, UAV that gathered it, a timeat which the data was obtained, among other criteria. Any or all of thedata can also be displayed on user interface device 262 using userinterface logic 264.

FIG. 3 is a flow diagram showing one example of generating a route for aUAV using a worksite control system illustrated in FIG. 2. Asillustratively shown, processing begins at block 302 where positioningdata is received from landscape modifiers at a worksite and used toidentify a location of the landscape modifiers within the worksite.While landscape modifiers can include mobile machines, as indicated byblock 304, landscape modifiers can also include rain, as indicated byblock 306, and/or wind as indicated by block 308. In one example,positioning data is generated from position detection system 226 withinmobile machine 104. Additionally, positioning information can beobtained from sensor(s) 238 which can include optical sensors, weathersensors, etc. However, any worksite data corresponding to a location oflandscape modifiers can be used to identify a location of the landscapemodifiers within a worksite as indicated by block 310.

Processing proceeds to block 312 where a display is generated on userinterface device 262 of the landscape modifiers and their position usinguser interface logic 264. However, it is expressly contemplated that adisplay can be rendered at any point during the processing or notrendered at all.

Based on a location of landscape modifiers within a worksite, types ofworksite areas and their respective locations are determined using areaidentifier logic 254, as indicated by block 314. In one example,identified types of worksite areas can include fixed worksite areas asindicated by block 316, dynamic worksite areas as indicated by block318, or any other type of worksite area as indicated by block 320.Furthermore, it is contemplated that types of worksite areas and theirrespective locations can be identified in other ways as well, asindicated by block 336.

Prioritizing logic 256 then prioritizes the worksite areas, as indicatedby block 322. In one example, the types of worksite areas can beprioritized based on type, as indicated by block 324, their locationwithin a worksite as indicated by block 326, or any other criteria asindicated by block 328.

Based on the prioritized types of worksite areas, a route is determinedfor an unmanned aerial vehicle using route generator 258, as indicatedby block 330. The route can be transmitted to the UAV usingcommunication system 248 as indicated by block 332. Upon receiving theroute, the UAV can be automatically configured to conduct a worksitemission based on the received route, and/or a user input can be receivedeither accepting or rejecting the identified route. Processing thenturns to block 334 where a determination is made by area identifierlogic 254 as to whether a worksite is being modified by landscapemodifiers. In one example, a determination can be based on receivedinformation from sensor(s) 238 on mobile machine 104, as indicated byblock 336. Alternatively, a determination can be based on receivedposition information from position detection system 226, as indicated byblock 338, indicating that mobile machine 104 has moved within aworksite. However, any other information may be used to determinewhether a worksite is currently being modified, as indicated by block340. If area identifier logic 254 determines a worksite is currentlybeing modified, processing proceeds back to block 302 where a positionof landscape modifiers within a worksite is identified. Alternatively,if a worksite is not currently being modified, the processing ends.

FIG. 4 is a flow diagram showing one example of setting operatingparameters for a UAV using a worksite control system illustrated in FIG.2. Processing begins at block 402 where a user input is receivedindicating at least one vehicle control variable for controllingunmanned aerial vehicle (UAV) 112, as indicated by block 402. In oneexample, the at least one vehicle control variable includes a missionplanning variable, as indicated by block 404, a camera configuration, asindicated by block 406, among other variables as indicated by block 408.In one example, the at least one vehicle control variable can bereceived through user input mechanism 268 which can include a sliderdisplayed on user interface device 262, as indicated by block 420.Additionally, the user input mechanism can include a knob, as indicatedby block 422, arrows, as indicated by block 424, among other types ofuser inputs mechanisms as indicated by block 426. Further, a user inputcan include a locking user input that locks the at least one vehiclecontrol variable so that the selected values of the variable(s) remainfixed, as indicated by block 428.

Processing then proceeds to block 410 where a user input is receivedindicating field data for a worksite. In one example, the field dataincludes a wind speed at a worksite, as indicated by block 412, avegetation height, as indicated by block 414, among other field data asindicated by block 416. Upon receiving at least one vehicle controlvariable and field data, processing then proceeds to block 418 wherecalculation logic 300 calculates dependent variables relating to the atleast one vehicle control variable and field data. In one example, thecalculated dependent variables can be calculated based on mathematicalrelationships amongst the entered data, and can depend on whatparticular variables and field data are received by a user as will bediscussed further below with respect to FIG. 5.

However, upon calculating dependent variables relating to the at leastone vehicle control variable and field data, processing turns to block430 where a display is generated by user interface logic 264 and isdisplayed on user interface device 262. In one example, the displayincludes the at least one vehicle control variable, field data andcalculated dependent variables relating to UAV 112. However, it isexpressly contemplated that only some of the information may bedisplayed, such as the calculated dependent variables relating to the atleast one vehicle control variable and field data. Processing then turnsto block 432 where a user input can be received through user inputmechanism 268 adjusting the at least one vehicle control variable and/orfield data.

If a user input is received adjusting the at least one vehicle controlvariable and/or field data, processing proceeds back to block 418 wheredependent variables are calculated by calculation logic 300 based on theadjusted at least one vehicle control variable and/or field data.However, if no user input is received adjusting the at least one vehiclecontrol variable and/or field data, processing proceeds to block 434where control signals are generated by control system 280 to UAV 112based on the at least one vehicle control variable, field data, andcalculated dependent variables. In one example, UAV 112, upon receivingthe control signals, is configured to carry out a worksite mission inaccordance with the at least one vehicle control variable, field dataand calculated dependent variables. The worksite mission can correspondto obtaining topographical information, a position of landscapemodifiers, among other information.

FIG. 5 is one example of a user interface display 500 for setting UAVparameters. In one example, the user interface display is generated byuser interface logic 264 on user interface system 252 of worksitecontrol system 120. User interface display 500 illustratively includesmission planning variables 502, field data 512, camera configurationinformation 522 and mission parameters 528. Mission planning variables502 can include a user-actuatable planned altitude display element 504,a user-actuatable planned horizontal speed display element 506 and auser-actuatable required vertical accuracy display element 508, amongother elements, configured to receive a user input indicative of adesired value. In one example, mission planning variables 502 can beadjusted based on a received user input through a user input mechanismsuch as a slider 536 displayed on a user interface display.Additionally, any or all of mission planning variables 502 can be lockedin response to a received user input, such as by actuating user inputmechanism 510 and/or 511.

Camera configuration information 522 illustratively includes auser-actuatable focal length display element 524 and a user-actuatableresolution display element 526, among other information, configured toreceive a user input indicative of a focal length and a resolution value(e.g. cm̂2/pixel) for an image acquisition system of UAV 112. In oneexample, camera configuration information 522 can be fixed based on animage acquisition system within UAV 112. However, camera configurationinformation 522 can also vary based on the type of UAV 112 and equipmentwithin UAV 112. Field data 512 can include a user-actuatable sustainedwind speed display element 514, a user-actuatable wind speed gustdisplay element 516, a user-actuatable high vegetation height displayelement 518 and a user-actuatable low vegetation height display element520, among other data, for worksite area 100. In one example, field data512 can depend on a type of worksite and a desired location of aworksite area for which a worksite mission is to be conducted. Inanother example, wind speed display element 514 and wind speed gustelement 516 may be pre-populated with recent data from a weather stationvia network 224.

Mission parameters 528 illustratively include a ground separatingdistance display element 530, a nominal vertical accuracy displayelement 532 and an actual vertical accuracy display element 534configured to output calculated values by calculation logic 300. Oneexample of inputting at least one vehicle control variable and fielddata will now be discussed for UAV 112, even though it is to beunderstood that a wide variety of different variables and informationcan be used.

In one example, a received user input can set user-actuatable plannedhorizontal speed display element 506, using slider 536, at 15 m/s, andthat value can be locked by actuating lock mechanism 511. Cameraconfiguration information 522 can then be input, such as by enteringvalues for user-actuatable focal length display element 524 anduser-actuatable resolution display element 526 based on a type of imageacquisition system within UAV 112. Camera configuration information 522can also be prepopulated in user interface display 500. A user can thenenter a value for user-actuatable vertical accuracy display element at 1cm, using a slider. Based on the variables and information received,calculation logic 300 determines a user-actuatable planned altitudedisplay element 504 to be 45 m (148 ft) using mathematicalinterrelationships between the variables and data. Additionally,calculation logic 300 determines a nominal vertical accuracy displayelement 532 to be 0.8 cm and a ground separating distance displayelement 530 to be 0.4 cm. The calculated values can then be displayed toa user in fields 504, 532 and 530, and control signals are thengenerated and used to control UAV 112 based on the values.

In one example, when a user modifies one of the sliders 536 for missionplanning variables 502, the remaining sliders automatically adjust basedon a real-time calculation of the dependent variables in accordance witha mathematical model of the interrelationships between the independentand dependent variables. Whether one of the mission planning variables502 is independent or dependent depends on a received user input at anygiven time. For instance, a received user input locking user-actuatableplanned horizontal speed display element 506 at 15 m/s, by actuatinglock mechanism 511, indicates that a planned horizontal speed is to bean independent variable for purposes of calculating vehicle controlvariables and information. In this example, a user can leaveuser-actuatable planned altitude display element 504 and user-actuatablerequired vertical accuracy display element 508 unlocked, indicating theyare to be dependent variables. Additionally, a received user input canlock any of variables 502 to indicate that they are independentvariables for purposes of calculating the remaining variables.

In addition to setting operating parameters for an unmanned aerialvehicle, a user interface can also display different worksite areas andvisual cues indicative of a “freshness” of received worksite data forthe different worksite areas. FIG. 6 is a flow diagram showing oneexample of generating a user interface with visual cues indicative ofupdate values for different worksite areas within a worksite. Processingbegins at block 602 where worksite data is received from mobile machineslocated at various worksite areas. In one example, worksite data isreceived from unmanned aerial vehicle 112, as indicated by block 604.Additionally, worksite data can be received from mobile machine 104, asindicated by block 606, and a variety of other sources as indicated byblock 608. In one example, worksite data can correspond to topographicalinformation, mobile machine information, or any other informationpertaining to a worksite.

Upon receiving worksite data, processing proceeds to block 610 where adisplay is generated on user interface device 262. In one example, thegenerated display can include mobile machine data, as indicated by block646, and worksite mission data as indicated by block 648. Additionally,the user interface display can also include a position of mobilemachines, as indicated by block 626, mobile machine identifiers, asindicated by block 628, among other data as indicated by block 630,within a worksite.

Processing turns to block 612 where an update value is calculated byupdate generator 266 for the displayed worksite areas based on receivedworksite data. In one example, an update value can be calculated basedon a time that worksite data was received for a worksite area, asindicated by block 614. Additionally, an update value can be calculatedbased on a duration of time since worksite data was received for aworksite area, as indicated by block 616, a duration of time untiladditional worksite data is received for a worksite area, as indicatedby block 618, and/or a number of mobile machine passes at a worksitearea since worksite data was received, as indicated by block 620.However, an update value can be calculated in a variety of other ways,as indicated by block 624.

Upon calculating an update value for worksite areas, processingcontinues at block 632 where control signals are generated by userinterface logic 264 for user interface device 262 to display visual cuesindicative of the calculated update values. In one example, displayedvisual cues can include a change in color, as indicated by block 634,pattern, as indicated by block 636, texture, as indicated by block 638,intensity, as indicated by block 640, layering, as indicated by block642, as well as a table as indicated by block 644. In one example, byincorporating visual cues on the user interface display, a user canaccurately determine a worksite productivity along with a progress incompleting a worksite goal. In another example, the visual cues enable auser to assess data currency for different worksite areas. Processingthen proceeds to block 650 where a determination is made whetheradditional worksite data is received. If additional worksite data isreceived, processing proceeds back to block 612 where an update value iscalculated for a worksite area in which additional worksite data isreceived. If additional data is not received, processing subsequentlyends.

FIG. 7 is one example of a user interface display for displayingworksite areas within a worksite and corresponding visual cuesindicative of update values for the respective worksite areas. In oneexample, a user interface display can be displayed on user interfacedevice 262 using user interface logic 264. User interface display 700includes an unmanned aerial vehicle (UAV) display element 710 configuredto display a UAV within a worksite 702, a UAV characteristic displayelement 714 configured to display a characteristic of the UAV, a mobilemachine display element 704 configured to display a mobile machinewithin worksite 702, and a mobile machine characteristic display element706 configured to display a characteristic of the mobile machine withinworksite 702. In one example, mobile machine display element 704 and UAVdisplay element 710 correspond to UAV 112 and mobile machine 104configured to obtain worksite data within a worksite. Additionally, asillustratively shown, user interface display 700 includes a firstworksite area display element 708, a second worksite area displayelement 712 and a path display element 716, which will be discussedbelow.

Received worksite data from mobile machine 104 can include elevationdata of a blade as it passes over the worksite. Additionally, worksitedata received from UAV 112 can correspond to topographical informationfrom photogrammetry. As worksite data is received from mobile machine104 and UAV 112, update values are calculated by update generator 266based on the worksite data obtained from mobile machine 104 and UAV 112.In one example, a calculated update value by update generator 266 can bebased on how recently mobile machine 104 and UAV 112 have collected andtransmitted worksite data for a worksite area. Additionally, acalculated update value by update generator 266 can be indicative ofmobile machine 104 and/or UAV 112 transmitting the worksite data. Basedon the update value, visual cues are generated by user interface logic264 and displayed by the first worksite area display element 708 andsecond worksite area display element 712 corresponding to a “freshness”of worksite data obtained for the worksite areas. As illustrativelyshown, visual cues for a worksite area can include a pattern changebased on a type of mobile machine communicating the worksite data.However, other visual cues can be displayed as well.

In one example, a visual cue can correspond to an intensity or greyscaleon user interface display 700. For example, in the situation a userinterface display has intensity values ranging from 0 (black) to 1(white), a 1 can be assigned to a work area that has just been updatedwhile a 0 can be assigned to a work area that has not been updated sincea selected start time (e.g. day, project phase, whole project, etc.) Afunction is used by user interface logic 264 to interpolate intermediatevalues such as a linear interpolation, an exponential decayinterpolation, or any other suitable function. A visual cue can also bea color. In this example, color scales can be used such as green forrecently updated and red for overdue, updating or never updated worksitedata for a worksite area.

A visual cue can also be a pattern, texture, etc. In this example, atable can be used to look up data ranges. Ranges can be given specificpatterns such as dots or lines, while dot intensity can be proportionalto a value range. Layering can also be used as newer worksite data canbe overlaid over older worksite data or layer on user interface display700. For example, a display can be shown with original worksite data atthe lowest or base level, worksite data from a UAV mission, overlaid, ontop of the worksite data, at an intermediate layer, and worksite datafrom a mobile machine currently operating can be displayed over the topof the other data, as the highest layer.

User interface display 700 also illustratively includes path displayelement 716 that displays a current path of mobile machine 104 within aworksite. In one example, a current path of mobile machine 104 can bedetermined based on worksite data obtained from mobile machine 104,which can include positioning data from position detection system 226for example. In this example, a user can then monitor a worksiteoperation as mobile machine 104 and UAV 112 collect worksite data.Additionally, while UAV characteristic display element 714, shown inFIG. 7, corresponds to a battery indication, and mobile machinecharacteristic display element 706 corresponds to a fuel level, a widevariety of other characteristics can be displayed as well. FIG. 8 isanother example of a user interface display for displaying worksiteareas within a worksite and corresponding visual cues indicative ofupdate values for the respective worksite areas. In the illustratedexample, a visual cue 712 corresponding to worksite data obtained fromUAV 112 is overlaid over an initial worksite data layer 702, while avisual cue 708 is overlaid over visual cue 712 corresponding to morerecent worksite data being received from mobile machine 104 at aworksite area. Additionally, it is contemplated that other visual cuescan be displayed as well.

FIGS. 9A and 9B illustrate a flow diagram showing one example ofcalculating a worksite data quality metric from mobile machines at aworksite and obtaining additional worksite data based on the worksitedata quality metric. Processing begins at block 900 where worksite datais retrieved through a communication system(s) of a mobile machineconfigured to carry out a worksite operation. In one example, a mobilemachine can be UAV 112, as indicated by block 902, mobile machine 104,as indicated by block 904, or other sources as indicated by block 906.Additionally, worksite data can be received from a plurality of mobilemachines, as indicated by block 908, and further aggregated byaggregation logic 282, as indicated by block 910.

Processing moves to block 912 where a quality metric of the receivedworksite data is calculated by quality logic 274 based on quality datawithin the worksite data. Quality data can include HDOP data, asindicated by block 960, VDOP data, as indicated by block 962, pitch dataas indicated by block 964, roll data, as indicated by block 966, yawdata, as indicated by block 968, x-axis data, as indicated by block 970,y-axis data, as indicated by block 972, z-axis data, as indicated byblock 974, a shutter speed, as indicated by block 976, aperture data, asindicated by block 978, weather data, as indicated by block 980,obscurant data, as indicated by block 982, worksite activity data 984,among any other data that can be used to determine a data qualitymetric.

Upon determining a worksite data quality metric, the worksite dataquality metric is compared to a quality threshold using threshold logic276 as indicated by block 914. After the comparison of the calculateddata quality metric to a quality threshold, processing proceeds to block916 where an improvement action is identified, based on the comparison,by action identifier logic 294. For example, a quality threshold can bespecific to a type of worksite data, and if a calculated data qualitymetric is below a quality threshold, an improvement action can beidentified to supplement the received worksite data by action identifierlogic 294. In one example, an improvement action can include a mobilemachine traveling to a singular worksite area, where the obtainedworksite data was generated, and obtain additional worksite data, asindicated by block 938. Additionally, an improvement action can be amobile machine traveling to a plurality of worksite areas to obtainadditional worksite data from these areas as indicated by block 936. Inone example, a mobile machine can include UAV 112, as indicated by block926, and/or mobile machine 104 as indicated by block 928, among othermobile machines as indicated by block 932. Further, an improvementaction can include waiting before the additional worksite data iscollected, as indicated by block 988. However, any improvement action iscontemplated that includes obtaining additional worksite data based on acalculated worksite data quality metric.

Processing then proceeds to block 934 where a mission plan is generatedby mission generator 296 for a mobile machine based on the identifiedimprovement action by action identifier logic 294. A generated missionplan can include updating a current worksite mission, as indicated byblock 918, or creating a new mission plan, as indicated by block 920.However, any of a variety of different modifications to a mission planis contemplated herein as indicated by block 940. Next, a user interfacedisplay is controlled to generate a display as indicated by block 942.In one example, the user interface display can include the identifiedimprovement action, as indicated by block 944, and/or a generatedmission plan, as indicated by block 946. However, other worksite dataand information can be displayed as well.

In one example, a user input is then detected through user inputmechanism 268 either accepting or rejecting the identified improvementaction and/or mission plan, as indicated by block 948. In one example, auser input can indicate an acceptance of the identified improvementaction and/or generated mission plan, as indicated by block 950. A usercan also reject the identified improvement action and/or mission plan asindicated by block 952. However, a variety of other user inputs can bereceived as well, as indicated by block 954. If a user provides a userinput rejecting the proposed improvement action and/or mission plan,processing proceeds back to block 916 where an improvement action isidentified by action identifier logic 294. However, if a user acceptsthe identified improvement action and/or generated mission plan,processing proceeds to block 958 where control signals are generated bycontrol system 280 to execute the improvement action as part of amission plan. In one example, the mission plan is automatically acceptedwithout user input. In one example, control signals can be provided toan unmanned aerial vehicle or any other mobile machine in order to carryout the improvement action as part of a worksite mission.

Additionally, it is to be understood that a worksite data quality metriccan be calculated for a wide variety of different worksite operations.For example, a worksite operation can include collecting agriculturalfield crop data, field data, forestry data, golf course data, and turfdata. In one example, agricultural field crop data can include emergedplant populations, plant maturity data, plant health data, and plantyield data. Field data can include a soil surface roughness, a residuecover, a soil type, a soil organic matter, and soil moisture, amongother things. Forestry data can include such things as a canopy height,under-canopy vegetation, and under-canopy topography, for example.Additionally, golf course and turf data can include a turf height, turfhealth, a sand trap condition, and a water feature condition, amongother things.

FIG. 10 is a flow diagram showing one example of obtaining supplementaryworksite data based on a calculated worksite error using the UAVillustrated in FIG. 2. Processing begins at block 1002 where worksitedata is obtained through communication system 248 of worksite controlsystem 120 configured to receive worksite data from a mobile machineconfigured to carry out a worksite operation, which, in one example, caninclude leveling a worksite area. In one example, worksite data caninclude modified surface data, as indicated by block 1004, opticalmeasurements, as indicated by block 1006, acoustic measurements, asindicated by block 1008, fusion data in combination with a kinematicmodel of a mobile machine, as indicated by block 1016, worksite passdata, as indicated by block 1020, modeling information, as indicated byblock 1010, GPS data, as indicated by block 1012, observation data, asindicated by block 1014, among a wide variety of other data as indicatedby block 1018.

Processing proceeds to block 1022 where a worksite error is calculatedusing error logic 286. In one example, a worksite error is estimatedbased on the received worksite data. This can include calculating atopographical error, as indicated by block 1024, or other worksite errorcorresponding to received worksite data, as indicated by block 1026.Additionally, this can include calculating a soil distribution error, asindicated by block 1066. In one example, the soil distribution error candepend on a number of ground-engaging mobile machine passes within aworksite area. Additionally, a quality metric can also be calculated bydata quality system 272 from the received worksite data, as indicated byblock 1068. In one example, a quality metric can include a surfacesmoothness measure and a target topography variation metric.

However, upon calculating a worksite error, processing moves to block1028 where the estimated worksite error is compared to a threshold valueby error threshold logic 288. In one example, a threshold value caninclude a number of mobile machine passes, as indicated by block 1030,an accumulated error value, as indicated by block 1032, a soil lossmodel, as indicated by block 1034, a user-input, as indicated by block1036, among any other thresholds relating to a worksite error. In theexample a threshold value includes a number of mobile machine passes, anestimated worksite error can correspond to a number of mobile machinepasses detected within a worksite area. Additionally, a comparison ofthe worksite error to a threshold value, by error threshold logic 288,can also take into account other factors into the comparison, asindicated by block 1078, which, in one example, can include a groundtraffic density, machine learning algorithms of field data such as apresence of vegetation, average vegetation height, variance ofvegetation and obstacles, wind speed, etc. In this example, errorthreshold logic 288 can take into account the factors that would lead toan inaccurate worksite error calculation, and generate an indicationthat additional worksite data is needed to supplement the worksite dataused in calculating the inaccurate worksite error.

If the calculated worksite error is less than a threshold value,processing proceeds back to block 1002 where worksite data is obtainedthrough communication system 248 of worksite control system 120. If aworksite error is above the threshold value, processing proceeds toblock 1042 where a control signal is generated by control system 280 forUAV 112. In one example, a control signal can control UAV 112 to obtainadditional worksite data for a mobile machine, as indicated by block1054, an entire worksite, as indicated by block 1046, or a modifiedsurface as indicated by block 1048. Obtaining additional worksite datacan be done by controlling UAV 112 to perform a surveying mission, asindicated by block 1044, or any other mission to obtain worksite data asindicated by block 1050. Additionally, while a control signal isillustratively transmitted from control system 280 to UAV 112, it isexpressly contemplated that a control signal can be transmitted tosatellites, as indicated by block 1072, manned aircraft systems, asindicated by block 1074, and/or unmanned aircraft systems, as indicatedby block 1076. In one example, UAV, satellites, unmanned aircraftsystems and manned aircraft systems can include survey instruments thatinclude three dimensional (3D) photogrammetry, LIDAR or other suitablehigh accuracy sensors.

Additional worksite data can then be received from UAV 112 at theworksite area from which the initial worksite data was obtained, asindicated by block 1052. Additional worksite data can include highlyaccurate topography data, as indicated by block 1062, or any other datarelating to the worksite area, as indicated by block 1064. Based onreceived additional worksite data, corrected worksite data can becalculated by back calculation logic 290 as indicated by block 1054. Inone example, generating corrected worksite data includes assigning anerror equally among mobile machine passes, as indicated by block 1080.Alternatively, this can include assigning surplus blade edge material toa pass based on a location of a material ridge relative to a recordededge for the pass, as indicated by block 1082. Additionally, generatingcorrected worksite data can include assigning a material deficit to amore recent pass, as indicated by block 1084, assigning a densitydeficiency to a compactor pass, as indicated by block 1186, or adjustinga portion of error assigned to a pass because a quality is out ofcalibration, as indicated by block 1188. However, a variety of othercorrected values are contemplated, as indicated by block 1190.

A display is then generated on a user interface device as indicated byblock 1056. A user interface display can include a productivityindicator, as indicated by block 1058, and/or any other informationderived from the corrected worksite data by back calculation logic 290.Additionally, the user interface display can include a quality metricwhich can include a discrete number, a set of discrete numbers, or, ifit can be displayed, an overlay over an aerial map within the userinterface display.

FIG. 11 is a flow diagram showing one example of generating a worksiteerror map using worksite data obtained from mobile machine 104 and UAV112 illustrated in FIG. 2. Processing begins at block 1102 whereworksite data is received from ground-engaging mobile machine 104.Worksite data can include topographical data, as indicated by block1026, soil data, as indicated by block 1114, ground surface data, asindicated by block 1116, among other worksite data as indicated by 1108.Additionally, in one example, a ground-engaging mobile machine caninclude a construction vehicle as indicated by block 1104, however, avariety of mobile machines are contemplated herein.

Processing proceeds to block 1108 where a first worksite state map isgenerated by map generation logic 302 on a user interface device basedon the received worksite data from ground-engaging mobile machine 104located at a worksite area. In one example, a first worksite state mapcan display ground leveling state information indicative of a state of aground-leveling operation at the worksite area, as indicated by block1148. Additionally, a first worksite state map can include a variety ofother information, as indicated by block 1150, which can includeinformation indicative of topography, a density, surface texture, soilmoisture, and soil type, among other information. Upon generating afirst worksite state map, data corresponding to the worksite state mapcan also be stored within data store 298, as indicated by block 1140.However, it is contemplated that received worksite data can be stored atany point within the process.

Processing then moves to block 1110 where additional worksite data isreceived from UAV 112 located at the worksite area from which theinitial worksite data was obtained. In one example, additional worksitedata includes topography data, as indicated by block 1112, or any otherworksite data as indicated by 1118. In one example, additional worksitedata can be obtained from UAV 112 as a part of a high accuracy survey ofthe worksite area where the initial worksite data was obtained, asindicated by block 1146. From the received additional worksite data,processing proceeds to block 1120 where a second worksite state map isgenerated by map generation logic 302 from the additional worksite datareceived from UAV 112. Based on a difference between the first worksitestate map and the second worksite state map, a worksite error map isthen generated by map generation logic 302 as indicated by block 1122.

Processing moves to block 1124 where error values are assigned by backcalculation logic 290 to each ground-engaging mobile machine from theworksite error map, based on a criteria, to generate corrected worksitedata for the mobile machines. In one example, corrected worksite dataincludes corrected pass data, as indicated by block 1128, and/or acorrected productivity, as indicated by block 1130. Additionally,corrected worksite data can be assigned to a plurality of mobilemachines located at a worksite area as indicated by block 1134.Subsequently, an accurate progress towards a worksite operation can bedetermined by back calculation logic 290 as well, as indicated by block1132. However, a wide variety of information can be determined from theworksite error map, as indicated by block 1138.

A user display mechanism is controlled by user interface logic 264 togenerate a display for a user as indicated by block 1140. In oneexample, the generated user interface can include any informationobtained from the generated worksite error map, such as correctedworksite data which includes a productivity of a ground-engaging mobilemachine, pass data, operator productivity, pass productivity, etc. Upongenerating a user display, processing then turns to block 1142 where adetermination is made by error logic 286 whether additional worksitedata is received from ground-engaging mobile machines. If yes,processing proceeds back to block 1108 where a worksite state map isgenerated by map generation logic 302 based on the worksite datareceived from the ground-engaging mobile machines. However, if noadditional worksite data is received from ground-engaging mobilemachines, processing subsequently ends.

The present discussion has mentioned processors and servers. In oneexample, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

The present discussion has mentioned processors and servers. In oneexample, the processors and servers include computer processors withassociated memory and timing circuitry, not separately shown. They arefunctional parts of the systems or devices to which they belong and areactivated by, and facilitate the functionality of the other componentsor items in those systems.

Also, a number of user interface displays have been discussed. They cantake a wide variety of different forms and can have a wide variety ofdifferent user actuatable input mechanisms disposed thereon. Forinstance, the user actuatable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can alsobe actuated in a wide variety of different ways. For instance, they canbe actuated using a point and click device (such as a track ball ormouse). They can be actuated using hardware buttons, switches, ajoystick or keyboard, thumb switches or thumb pads, etc. They can alsobe actuated using a virtual keyboard or other virtual actuators. Inaddition, where the screen on which they are displayed is a touchsensitive screen, they can be actuated using touch gestures. Also, wherethe device that displays them has speech recognition components, theycan be actuated using speech commands.

A number of data stores have also been discussed. It will be noted theycan each be broken into multiple data stores. All can be local to thesystems accessing them, all can be remote, or some can be local whileothers are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed toeach block. It will be noted that fewer blocks can be used so thefunctionality is performed by fewer components. Also, more blocks can beused with the functionality distributed among more components.

FIG. 12 is a simplified block diagram of one illustrative example of ahandheld or mobile computing device that can be used as a user's orclient's hand held device 16, in which the present system (or parts ofit) can be deployed. For instance, a mobile device can be deployed asworksite control system 120 in the operator compartment of mobilemachine 104 for use in generating, processing, or displaying theinformation discussed herein and in generating a control interface.FIGS. 13-14 are examples of handheld or mobile devices.

FIG. 12 provides a general block diagram of the components of a clientdevice 16 that can run some components shown in FIG. 2, that interactswith them, or both. In the device 16, a communications link 13 isprovided that allows the handheld device to communicate with othercomputing devices and in some examples provide a channel for receivinginformation automatically, such as by scanning. Examples ofcommunications link 13 include allowing communication though one or morecommunication protocols, such as wireless services used to providecellular access to a network, as well as protocols that provide localwireless connections to networks.

In other examples, applications can be received on a removable SecureDigital (SD) card that is connected to an interface 15. Interface 15 andcommunication links 13 communicate with a processor 17 (which can alsoembody processors or servers from previous FIGS.) along a bus 19 that isalso connected to memory 21 and input/output (I/O) components 23, aswell as clock 25 and location system 27.

I/O components 23, in one embodiment, are provided to facilitate inputand output operations. I/O components 23 for various embodiments of thedevice 16 can include input components such as buttons, touch sensors,optical sensors, microphones, touch screens, proximity sensors,accelerometers, orientation sensors and output components such as adisplay device, a speaker, and or a printer port. Other I/O components23 can be used as well.

Clock 25 illustratively comprises a real-time clock component thatoutputs a time and date. It can also, illustratively, provide timingfunctions for processor 17.

Location system 27 illustratively includes a component that outputs acurrent geographical location of device 16. This can include, forinstance, a global positioning system (GPS) receiver, a LORAN system, adead reckoning system, a cellular triangulation system, or otherpositioning system. It can also include, for example, mapping softwareor navigation software that generates desired maps, navigation routesand other geographic functions.

Memory 21 stores operating system 29, network settings 31, applications33, application configuration settings 35, data store 37, communicationdrivers 39, and communication configuration settings 41. Memory 21 caninclude all types of tangible volatile and non-volatilecomputer-readable memory devices. It can also include computer storagemedia (described below). Memory 21 stores computer readable instructionsthat, when executed by processor 17, cause the processor to performcomputer-implemented steps or functions according to the instructions.Processor 17 can be activated by other components to facilitate theirfunctionality as well.

FIG. 13 shows one example in which device 16 is a tablet computer 1302.In FIG. 13, computer 1302 is shown with user interface display screen1304. Screen 1304 can be a touch screen or a pen-enabled interface thatreceives inputs from a pen or stylus. It can also use an on-screenvirtual keyboard. Of course, it might also be attached to a keyboard orother user input device through a suitable attachment mechanism, such asa wireless link or USB port, for instance. Computer 1302 can alsoillustratively receive voice inputs as well.

FIG. 14 shows that the device can be a smart phone 71. Smart phone 71has a touch sensitive display 73 that displays icons or tiles or otheruser input mechanisms 75. Mechanisms 75 can be used by a user to runapplications, make calls, perform data transfer operations, etc. Ingeneral, smart phone 71 is built on a mobile operating system and offersmore advanced computing capability and connectivity than a featurephone.

Note that other forms of the devices 16 are possible.

FIG. 15 is one example of a computing environment in which elements ofFIG. 2, or parts of it, (for example) can be deployed. With reference toFIG. 15, an example system for implementing some embodiments includes ageneral-purpose computing device in the form of a computer 810.Components of computer 810 may include, but are not limited to, aprocessing unit 820 (which can comprise processors or servers fromprevious FIGS.), a system memory 830, and a system bus 821 that couplesvarious system components including the system memory to the processingunit 820. The system bus 821 may be any of several types of busstructures including a memory bus or memory controller, a peripheralbus, and a local bus using any of a variety of bus architectures. Memoryand programs described with respect to FIG. 2 can be deployed incorresponding portions of FIG. 15.

Computer 810 typically includes a variety of computer readable media.Computer readable media can be any available media that can be accessedby computer 810 and includes both volatile and nonvolatile media,removable and non-removable media. By way of example, and notlimitation, computer readable media may comprise computer storage mediaand communication media. Computer storage media is different from, anddoes not include, a modulated data signal or carrier wave. It includeshardware storage media including both volatile and nonvolatile,removable and non-removable media implemented in any method ortechnology for storage of information such as computer readableinstructions, data structures, program modules or other data. Computerstorage media includes, but is not limited to, RAM, ROM, EEPROM, flashmemory or other memory technology, CD-ROM, digital versatile disks (DVD)or other optical disk storage, magnetic cassettes, magnetic tape,magnetic disk storage or other magnetic storage devices, or any othermedium which can be used to store the desired information and which canbe accessed by computer 810. Communication media may embody computerreadable instructions, data structures, program modules or other data ina transport mechanism and includes any information delivery media. Theterm “modulated data signal” means a signal that has one or more of itscharacteristics set or changed in such a manner as to encode informationin the signal.

The system memory 830 includes computer storage media in the form ofvolatile and/or nonvolatile memory such as read only memory (ROM) 831and random access memory (RAM) 832. A basic input/output system 833(BIOS), containing the basic routines that help to transfer informationbetween elements within computer 810, such as during start-up, istypically stored in ROM 831. RAM 832 typically contains data and/orprogram modules that are immediately accessible to and/or presentlybeing operated on by processing unit 820. By way of example, and notlimitation, FIG. 15 illustrates operating system 834, applicationprograms 835, other program modules 836, and program data 837.

The computer 810 may also include other removable/non-removablevolatile/nonvolatile computer storage media. By way of example only,FIG. 15 illustrates a hard disk drive 841 that reads from or writes tonon-removable, nonvolatile magnetic media, an optical disk drive 855,and nonvolatile optical disk 856. The hard disk drive 841 is typicallyconnected to the system bus 821 through a non-removable memory interfacesuch as interface 840, and optical disk drive 855 are typicallyconnected to the system bus 821 by a removable memory interface, such asinterface 850.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (e.g., ASICs),Application-specific Standard Products (e.g., ASSPs), System-on-a-chipsystems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed aboveand illustrated in FIG. 15, provide storage of computer readableinstructions, data structures, program modules and other data for thecomputer 810. In FIG. 15, for example, hard disk drive 841 isillustrated as storing operating system 844, application programs 845,other program modules 846, and program data 847. Note that thesecomponents can either be the same as or different from operating system834, application programs 835, other program modules 836, and programdata 837.

A user may enter commands and information into the computer 810 throughinput devices such as a keyboard 862, a microphone 863, and a pointingdevice 861, such as a mouse, trackball or touch pad. Other input devices(not shown) may include a joystick, game pad, satellite dish, scanner,or the like. These and other input devices are often connected to theprocessing unit 820 through a user input interface 860 that is coupledto the system bus, but may be connected by other interface and busstructures. A visual display 891 or other type of display device is alsoconnected to the system bus 821 via an interface, such as a videointerface 890. In addition to the monitor, computers may also includeother peripheral output devices such as speakers 897 and printer 896,which may be connected through an output peripheral interface 895.

The computer 810 is operated in a networked environment using logicalconnections (such as a local area network—LAN, or wide area network WAN)to one or more remote computers, such as a remote computer 880.

When used in a LAN networking environment, the computer 810 is connectedto the LAN 871 through a network interface or adapter 870. When used ina WAN networking environment, the computer 810 typically includes amodem 872 or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modulesmay be stored in a remote memory storage device. FIG. 15 illustrates,for example, that remote application programs 885 can reside on remotecomputer 880.

It should also be noted that the different examples described herein canbe combined in different ways. That is, parts of one or more examplescan be combined with parts of one or more other examples. All of this iscontemplated herein.

Example 1 is a worksite control system, comprising:

-   -   area identifier logic configured to receive a position input,        indicative of a position of landscape modifiers within a        worksite, from a position detection system and, based on the        position input, identify types of worksite areas within the        worksite and generate an area identifier output indicative of        the types of worksite areas and a location of the worksite areas        within the worksite;    -   prioritizing logic configured to receive the area identifier        output from the area identifier component and prioritize the        worksite areas based on the type; and    -   a route generator configured to generate a route for an unmanned        aerial vehicle (UAV) based on the prioritized worksite areas.

Example 2 is the worksite control system of any or all previous examplesfurther comprising:

-   -   a control system configured to generate a control signal for the        UAV based on the route; and    -   a communication system configured to communicate the control        signal to the UAV, and wherein the UAV is configured to conduct        a worksite mission based on the received control signal.

Example 3 is the worksite control system of any or all previous exampleswherein the control system is configured to control the UAV to performthe worksite mission by flying to the prioritized worksite areas in anorder based on priority and collecting worksite data for the prioritizedworksite areas.

Example 4 is the worksite control system of any or all previous exampleswherein the area identifier logic is configured to identify types ofworksite areas comprising fixed worksite areas and dynamic worksiteareas based on the position of the landscape modifiers within theworksite.

Example 5 is the worksite control system of any or all previous exampleswherein the prioritizing component is configured to prioritize dynamicworksite areas over fixed worksite areas.

Example 6 is the worksite control system of any or all previousexamples, further comprising:

-   -   a user interface device; and    -   user interface logic configured to generate a display of the        worksite areas within the worksite, on the user interface        device, to a user of the worksite control system.

Example 7 is the worksite control system of any or all previous exampleswherein the user interface logic is configured to generate and display alocation of the landscape modifiers on the user interface device.

Example 8 is the worksite control system of any or all previous exampleswherein the user interface logic is further configured to generate anddisplay landscape modifier identifiers, on the user interface device,that identify the landscape modifiers to the user of the worksitecontrol system.

Example 9 is the worksite control system of any or all previousexamples, further comprising:

-   -   an update generator configured to calculate an update value for        each worksite area within the worksite based on received        worksite data for a worksite area within the worksite.

Example 10 is the worksite control system of any or all previousexamples wherein the update generator calculates the update valuecomprising at least one of: a time of a last update for the worksitearea, a time since the last update for the worksite area, or a timeuntil a next scheduled update for the worksite area.

Example 11 is the worksite control system of any or all previousexamples wherein the update generator calculates the update valuecomprising at least one of: a number of mobile machine passes at theworksite area since a last update or an accumulated elevation errorsince a last update.

Example 12 is the worksite control system of any or all previousexamples wherein the user interface logic is configured to generate anddisplay a visual cue on the user interface device indicative of thecalculated update value for each worksite area, the visual cuecomprising at least one of: a color, a pattern, a texture or anintensity.

Example 13 is a worksite control system, comprising:

-   -   a user input mechanism configured to receive a user input        indicative of field data for a worksite and at least one vehicle        control variable for controlling an unmanned aerial vehicle        (UAV) to carry out a worksite mission within the worksite;    -   calculation logic configured to calculate dependent variables        related to the field data and at least one vehicle control        variable based on the received user input indicating the field        data and the at least one vehicle control variable;    -   user interface logic configured to generate a display of the        calculated dependent variables along with the field data and at        least one vehicle control variable to a user of the worksite        control system on a user interface device; and    -   a control system configured to generate control signals to the        UAV based on the field data, the least one vehicle control        variable and calculated dependent variables.

Example 14 is the worksite control system of any or all previousexamples wherein the input component is configured to receive the userinput indicating a mission planning variable.

Example 15 is the worksite control system of any or all previousexamples wherein the input component is configured to receive the userinput indicating an architectural or operating parameter of the UAVconfigured to carry out the worksite mission within the worksite.

Example 16 is the worksite control system of any or all previousexamples wherein the calculation logic is configured to calculatedependent variables comprising mission parameter values for the UAV.

Example 17 is the worksite control system of any or all previousexamples wherein the input component is further configured to receive auser input that fixes the at least one vehicle control variable at aspecific value.

Example 18 is a computer-implemented method, comprising:

-   -   generating a route for an unmanned aerial vehicle (UAV),        configured to carry out a worksite mission, based on prioritized        worksite areas within a worksite;    -   receiving a user input indicative of field data for the worksite        and at least one vehicle control variable corresponding to the        UAV;    -   calculating dependent variables relating to the field data and        the at least one vehicle control variable based on the received        user input;    -   displaying the calculated dependent variables along with the        field data and at least one vehicle control parameter to a user        on a user interface device; and    -   generating a control signal to the UAV based on the route and        calculated dependent variables.

Example 19 is the method of any or all previous examples wherein theprioritized worksite areas comprise fixed worksite areas and dynamicworksite areas, and are identified based on a position of landscapemodifiers within the worksite.

Example 20 is the method of any or all previous examples whereinreceiving the user input indicative of field data for the worksite andat least one vehicle control variable comprises:

-   -   locking the at least one vehicle control variable so that a        value of the at least one vehicle control variable becomes        fixed.

What is claimed is:
 1. A worksite control system, comprising: areaidentifier logic configured to receive a position input, indicative of aposition of landscape modifiers within a worksite, from a positiondetection system and, based on the position input, identify types ofworksite areas within the worksite and generate an area identifieroutput indicative of the types of worksite areas and a location of theworksite areas within the worksite; prioritizing logic configured toreceive the area identifier output from the area identifier componentand prioritize the worksite areas based on the type; and a routegenerator configured to generate a route for an unmanned aerial vehicle(UAV) based on the prioritized worksite areas.
 2. The worksite controlsystem of claim 1, wherein the control system comprises: a controlsystem configured to generate a control signal for the UAV based on theroute; and a communication system configured to communicate the controlsignal to the UAV, and wherein the UAV is configured to conduct aworksite mission based on the received control signal.
 3. The worksitecontrol system of claim 2, wherein the control system is configured tocontrol the UAV to perform the worksite mission by flying to theprioritized worksite areas in an order based on priority and collectingworksite data for the prioritized worksite areas.
 4. The worksitecontrol system of claim 2, wherein the area identifier logic isconfigured to identify types of worksite areas comprising fixed worksiteareas and dynamic worksite areas based on the position of the landscapemodifiers within the worksite.
 5. The worksite control system of claim4, wherein the prioritizing component is configured to prioritizedynamic worksite areas over fixed worksite areas.
 6. The worksitecontrol system of claim 1, further comprising: a user interface device;and user interface logic configured to generate a display of theworksite areas within the worksite, on the user interface device, to auser of the worksite control system.
 7. The worksite control system ofclaim 6, wherein the user interface logic is configured to generate anddisplay a location of the landscape modifiers on the user interfacedevice.
 8. The worksite control system of claim 7, wherein the userinterface logic is further configured to generate and display landscapemodifier identifiers, on the user interface device, that identify thelandscape modifiers to the user of the worksite control system.
 9. Theworksite control system of claim 6, further comprising: an updategenerator configured to calculate an update value for each worksite areawithin the worksite based on received worksite data for a worksite areawithin the worksite.
 10. The worksite control system of claim 9, whereinthe update generator calculates the update value comprising at least oneof: a time of a last update for the worksite area, a time since the lastupdate for the worksite area, or a time until a next scheduled updatefor the worksite area.
 11. The worksite control system of claim 9,wherein the update generator calculates the update value comprising atleast one of: a number of mobile machine passes at the worksite areasince a last update or an accumulated elevation error since a lastupdate.
 12. The worksite control system of claim 10, wherein the userinterface logic is configured to generate and display a visual cue onthe user interface device indicative of the calculated update value foreach worksite area, the visual cue comprising at least one of: a color,a pattern, a texture or an intensity.
 13. A worksite control system,comprising: a user input mechanism configured to receive a user inputindicative of field data for a worksite and at least one vehicle controlvariable for controlling an unmanned aerial vehicle (UAV) to carry out aworksite mission within the worksite; calculation logic configured tocalculate dependent variables related to the field data and at least onevehicle control variable based on the received user input indicating thefield data and the at least one vehicle control variable; user interfacelogic configured to generate a display of the calculated dependentvariables along with the field data and at least one vehicle controlvariable to a user of the worksite control system on a user interfacedevice; and a control system configured to generate control signals tothe UAV based on the field data, the least one vehicle control variableand calculated dependent variables.
 14. The worksite control system ofclaim 13, wherein the input component is configured to receive the userinput indicating a mission planning variable.
 15. The worksite controlsystem of claim 13, wherein the input component is configured to receivethe user input indicating an architectural or operating parameter of theUAV configured to carry out the worksite mission within the worksite.16. The worksite control system of claim 14, wherein the calculationlogic is configured to calculate dependent variables comprising missionparameter values for the UAV.
 17. The worksite control system of claim14, wherein the input component is further configured to receive a userinput that fixes the at least one vehicle control variable at a specificvalue.
 18. A computer-implemented method, comprising: generating a routefor an unmanned aerial vehicle (UAV), configured to carry out a worksitemission, based on prioritized worksite areas within a worksite;receiving a user input indicative of field data for the worksite and atleast one vehicle control variable corresponding to the UAV; calculatingdependent variables relating to the field data and the at least onevehicle control variable based on the received user input; displayingthe calculated dependent variables along with the field data and atleast one vehicle control parameter to a user on a user interfacedevice; and generating a control signal to the UAV based on the routeand calculated dependent variables.
 19. The method of claim 18, whereinthe prioritized worksite areas comprise fixed worksite areas and dynamicworksite areas, and are identified based on a position of landscapemodifiers within the worksite.
 20. The method of claim 18, whereinreceiving the user input indicative of field data for the worksite andat least one vehicle control variable comprises: locking the at leastone vehicle control variable so that a value of the at least one vehiclecontrol variable becomes fixed.